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42 lines
1.3 KiB
42 lines
1.3 KiB
%JSINGU Show the linearly dependent joints in a Jacobian matrix
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%
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% JSINGU(J) displays the linear dependency of joints in a Jacobian matrix.
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% This dependency indicates joint axes that are aligned and causes singularity.
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%
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% See also SerialLink.jacobn.
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% Copyright (C) 1993-2015, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for MATLAB (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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function jsingu(J)
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% convert to row-echelon form
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[R, jb] = rref(J);
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depcols = setdiff( 1:numcols(J), jb);
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fprintf('%d linearly dependent joints:\n', length(depcols));
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for d=depcols
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fprintf(' q%d depends on: ', d)
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for k=find(R(:,d))
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fprintf('q%d ', k);
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end
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fprintf('\n');
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end
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